Example for airframe file

Add to your firmware section: This example contains all possible configuration options, not all of them are mandatory!

<module name="sonar_vl53l1x">
  b'<define name="SONAR_VL53L1X_I2C_ADDR" value="0x52" />\n    '
  b'<define name="SONAR_VL53L1X_OFFSET" value="0" />\n    '
  b'<define name="SONAR_VL53L1X_TIMINGBUDGET_MS" value="100" />\n    '
  b'<define name="SONAR_VL53L1X_INTERMEASUREMENT_MS" value="100" />\n    '
  b'<define name="SONAR_VL53L1X_DISTANCEMODE" value="2" />\n    '
  b'<define name="USE_SONAR" value="" />\n  '
  b'<configure name="SONAR_VL53L1X_I2C_DEV" value="i2c1" />\n    '
</module>

Module configuration options

Configure Options

name: SONAR_VL53L1X_I2C_DEV value: i2c1
Description: I2C device to use for the VL53L1X sensor

Define Options

name: SONAR_VL53L1X_I2C_ADDR value: 0x52
Description: I2C address
name: SONAR_VL53L1X_OFFSET value: 0
Description: sensor offset in mm - default is 0
name: SONAR_VL53L1X_TIMINGBUDGET_MS value: 100
Description: Timing budget per measurement
name: SONAR_VL53L1X_INTERMEASUREMENT_MS value: 100
Description: Time between measurements
name: SONAR_VL53L1X_DISTANCEMODE value: 2
Description: Sensor distance mode
name: USE_SONAR value:
Description: activate use of sonar in INS extended filter (only rotorcraft)

Module functions

Init Functions

These initialization functions are called once on startup.

sonar_vl53l1x_init()

Event Functions

These event functions are called in each cycle of the module event loop.

sonar_vl53l1x_event()

Periodic Functions

These functions are called periodically at the specified frequency from the module periodic loop.

sonar_vl53l1x_read()
- Frequency in Hz: 50.
- Autorun: LOCK
  Periodic function automatically starts after init and can't be stopped.

Files

Header Files

The following headers are automatically included in modules.h

sonar_vl53l1x.h

Source Files

Raw sonar_vl53l1x.xml file:

<!DOCTYPE module SYSTEM "module.dtd">
 
<module name="sonar_vl53l1x" dir="sonar" task="sensors">
  <doc>
    <description>
     VL53L1X laser ranger AGL driver
    </description>
    <configure name="SONAR_VL53L1X_I2C_DEV" value="i2c1" description="I2C device to use for the VL53L1X sensor"/>
    <define name="SONAR_VL53L1X_I2C_ADDR" value="0x52" description="I2C address"/>
    <define name="SONAR_VL53L1X_OFFSET" value="0"  description="sensor offset in mm - default is 0"/>
    <define name="SONAR_VL53L1X_TIMINGBUDGET_MS" value="100" description="Timing budget per measurement"/>
    <define name="SONAR_VL53L1X_INTERMEASUREMENT_MS" value="100" description="Time between measurements"/>
    <define name="SONAR_VL53L1X_DISTANCEMODE" value="2" description="Sensor distance mode"/>
    <define name="USE_SONAR" value="" description="activate use of sonar in INS extended filter (only rotorcraft)"/>
  </doc>
  
  <settings>
    <dl_settings>
      <dl_settings name="sonar_vl53l1x">
        <dl_setting var="sonar_vl53l1x.offset_mm" min="-1000" step="1" max="1000" shortname="offset_mm"/>
      </dl_settings>
    </dl_settings>
  </settings>
  <dep>
    <depends>i2c</depends>
    <provides>sonar</provides>
  </dep>
 
  <header>
    <file name="sonar_vl53l1x.h"/>
  </header>
 
  <init fun="sonar_vl53l1x_init()"/>
  <periodic fun="sonar_vl53l1x_read()" freq="50."/>
  <event fun="sonar_vl53l1x_event()"/>
 
  <makefile target="ap|sim">
    <file name="sonar_vl53l1x.c"/>
  </makefile>
  <makefile target="ap">
    <configure name="SONAR_VL53L1X_I2C_DEV" default="i2c1" case="lower|upper"/>
    <define name="SONAR_VL53L1X_I2C_DEV" value="$(SONAR_VL53L1X_I2C_DEV_LOWER)"/>
    <define name="USE_$(SONAR_VL53L1X_I2C_DEV_UPPER)"/>
    <file name="vl53l1_platform.c" dir="peripherals"/>
    <file name="vl53l1x_api.c" dir="peripherals"/>
    <file name="vl53l1x_nonblocking.c" dir="peripherals"/>
  </makefile>
 
</module>